version: 66.06
glider: 139
mission: 9
dive: 49
start: 4 10 111 10 10 28
data:
$ID,139
$MISSION,9
$DIVE,49
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,187
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51959
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,330
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2175570.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3137
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2635
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043016663
$SEABIRD_T_H,0.00062182697
$SEABIRD_T_I,2.2485125e-05
$SEABIRD_T_J,2.3191574e-06
$SEABIRD_C_G,-10.411542
$SEABIRD_C_H,1.1792051
$SEABIRD_C_I,-0.0019162094
$SEABIRD_C_J,0.00023985174
$GPS1,095604,2102.430,-15803.538,11,2.4,30,9.8
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.1
$GPS2,101010,2102.378,-15803.513,14,2.2,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,70.1,36150,-16.8,-8.021
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.20,0.000,6,0.000,0.000,430,2102,3113,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.0,-4.9,14,115,13.35,2.38,0.00,0.000,4,0.140,0.029,2869,3514,3114,0,0,0,0,0,0
$GC,131,-1.19,-116.8,13.9,-29.9,20,138,0.00,2.42,0.00,0.000,6,0.000,0.029,2870,2095,3115,0,0,0,0,0,0
$GC,333,-1.19,-116.8,52.4,-18.0,46,337,0.00,2.35,0.00,0.000,4,0.000,0.030,2870,3500,3115,0,0,0,0,0,0
$GC,550,-1.19,-116.8,89.5,-15.6,70,555,0.00,2.38,0.00,0.000,6,0.000,0.029,2870,2091,3115,0,0,0,0,0,0
$GC,815,-1.19,-116.8,123.9,-9.5,94,819,0.00,2.35,0.00,0.000,4,0.000,0.031,2870,3501,3116,0,0,0,0,0,0
$GC,888,-1.19,-116.8,130.3,-8.0,101,893,0.00,2.33,0.00,0.000,6,0.000,0.027,2870,2091,3116,0,0,0,0,0,0
$GC,1151,-1.19,-116.8,151.8,-9.9,126,1155,0.00,2.38,0.00,0.000,4,0.000,0.031,2870,3510,3117,0,0,0,0,0,0
$GC,1162,-1.19,-116.8,152.9,-9.4,127,1167,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2099,3117,0,0,0,0,0,0
$GC,1427,-1.19,-116.8,178.4,-9.1,151,1431,0.00,2.35,0.00,0.000,4,0.000,0.040,2870,692,3118,0,0,0,0,0,0
$GC,1477,-1.19,-116.8,183.7,-9.7,156,1482,0.00,2.30,0.00,0.000,6,0.000,0.021,2870,2108,3117,0,0,0,0,0,0
$GC,1743,-1.19,-116.8,208.7,-9.4,177,1747,0.00,2.33,0.00,0.000,4,0.000,0.033,2869,3496,3117,0,0,0,0,0,0
$GC,1803,-1.19,-116.8,215.1,-10.2,179,1809,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2098,3117,0,0,0,0,0,0
$GC,2120,-1.19,-116.8,244.2,-8.3,195,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3116,0,0,0,0,0,0
$GC,2428,-1.19,-116.8,271.4,-8.6,210,2432,0.00,2.38,0.00,0.000,4,0.000,0.035,2870,3497,3116,0,0,0,0,0,0
$GC,2690,-1.19,-116.8,294.8,-9.1,221,2695,0.00,2.33,0.00,0.000,6,0.000,0.031,2870,2097,3116,0,0,0,0,0,0
$GC,3003,-1.19,-116.8,322.0,-8.4,230,3007,0.00,2.38,0.00,0.000,4,0.000,0.037,2870,3492,3114,0,0,0,0,0,0
$GC,3096,-1.19,-116.8,328.9,-7.4,232,3100,0.00,2.35,0.00,0.000,6,0.000,0.032,2869,2100,3113,0,0,0,0,0,0
$GC,3421,-1.19,-116.8,349.9,-7.3,240,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3111,0,0,0,0,0,0
$GC,3744,-1.19,-116.8,377.9,-8.6,248,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3109,0,0,0,0,0,0
$GC,4069,-1.19,-116.8,399.2,-5.5,256,4073,0.00,2.45,0.00,0.000,4,0.000,0.050,2869,695,3107,0,0,0,0,0,0
$GC,4085,-1.19,-116.8,400.1,-5.6,256,4089,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2098,3107,0,0,0,0,0,0
$GC,4435,-1.19,-116.8,417.5,-4.8,265,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3105,0,0,0,0,0,0
$GC,4760,-1.19,-116.8,438.0,-6.9,273,4764,0.00,2.40,0.00,0.000,4,0.000,0.044,2869,3508,3103,0,0,0,0,0,0
$GC,4775,-1.19,-116.8,439.2,-7.8,273,4779,0.00,2.40,0.00,0.000,6,0.000,0.037,2869,2103,3103,0,0,0,0,0,0
$STATE,4919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4919,begin apogee
$GC,4926,-0.31,0.0,450.1,7.4,277,5024,0.98,0.00,95.00,0.827,6,0.091,0.000,3067,1824,2635,0,0,0,0,0,0
$STATE,5025,end apogee,CONTROL_FINISHED_OK
$STATE,5025,begin climb
$GC,5028,1.19,116.8,451.6,0.0,279,5136,1.50,0.00,101.43,0.805,6,0.061,0.000,3393,1824,2158,0,0,0,0,0,0
$GC,5435,1.19,116.8,402.3,14.2,289,5440,0.00,2.53,0.00,0.000,4,0.000,0.061,3392,428,2146,0,0,0,0,0,0
$GC,5502,1.19,116.8,391.7,15.1,290,5507,0.00,2.38,0.00,0.000,6,0.000,0.030,3393,1839,2142,0,0,0,0,0,0
$GC,5847,1.19,116.8,340.8,14.3,299,5852,0.00,2.55,0.00,0.000,4,0.000,0.058,3392,423,2140,0,0,0,0,0,0
$GC,5890,1.19,116.8,334.8,14.2,300,5895,0.00,2.38,0.00,0.000,6,0.000,0.030,3393,1832,2138,0,0,0,0,0,0
$GC,6220,1.19,116.8,291.4,12.9,309,6224,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,424,2137,0,0,0,0,0,0
$GC,6264,1.19,116.8,284.7,15.8,311,6269,0.00,2.38,0.00,0.000,6,0.000,0.029,3393,1839,2136,0,0,0,0,0,0
$GC,6595,1.19,116.8,246.0,10.5,327,6599,0.00,2.38,0.00,0.000,4,0.000,0.037,3393,3232,2136,0,0,0,0,0,0
$GC,6646,1.19,116.8,240.2,11.0,329,6651,0.00,2.40,0.00,0.000,6,0.000,0.039,3393,1834,2136,0,0,0,0,0,0
$GC,6968,1.19,116.8,207.4,10.0,345,6972,0.00,2.50,0.00,0.000,4,0.000,0.054,3392,413,2134,0,0,0,0,0,0
$GC,7078,1.19,116.8,195.4,10.7,351,7083,0.00,2.35,0.00,0.000,6,0.000,0.026,3393,1838,2132,0,0,0,0,0,0
$GC,7341,1.22,134.7,174.4,7.2,376,7360,0.00,2.55,12.10,0.588,4,0.000,0.052,3393,428,2085,0,0,0,0,0,0
$GC,7421,1.22,134.7,167.7,8.4,384,7428,0.00,2.33,0.00,0.000,6,0.000,0.025,3393,1819,2082,0,0,0,0,0,0
$GC,7686,1.22,134.7,144.5,9.3,409,7690,0.00,2.42,0.00,0.000,4,0.000,0.049,3393,421,2082,0,0,0,0,0,0
$GC,7701,1.22,134.7,142.7,9.3,410,7705,0.00,2.33,0.00,0.000,6,0.000,0.023,3393,1846,2081,0,0,0,0,0,0
$GC,7964,1.22,134.7,118.2,8.9,434,7968,0.00,2.50,0.00,0.000,4,0.000,0.048,3393,413,2081,0,0,0,0,0,0
$GC,8036,1.22,134.7,111.2,10.4,441,8040,0.00,2.28,0.00,0.000,6,0.000,0.022,3393,1825,2080,0,0,0,0,0,0
$GC,8300,1.22,137.6,90.5,7.9,465,8305,0.00,2.45,0.00,0.000,4,0.000,0.048,3392,413,2081,0,0,0,0,0,0
$GC,8344,1.22,137.6,86.4,9.4,469,8348,0.00,2.30,0.00,0.000,6,0.000,0.021,3393,1836,2080,0,0,0,0,0,0
$GC,8609,1.23,149.3,66.1,7.5,493,8626,0.00,0.00,13.93,0.492,6,0.000,0.000,3393,1841,2026,0,0,0,0,0,0
$GC,8884,1.26,168.6,46.4,7.1,519,8907,0.00,2.53,18.10,0.482,4,0.000,0.047,3393,423,1946,0,0,0,0,0,0
$GC,8959,1.26,168.6,40.2,8.1,527,8963,0.00,2.28,0.00,0.000,6,0.000,0.020,3393,1836,1943,0,0,0,0,0,0
$GC,9228,1.26,170.3,20.6,7.9,563,9234,0.00,2.47,0.00,0.000,4,0.000,0.046,3393,424,1942,0,0,0,0,0,0
$GC,9293,1.26,170.3,14.7,9.2,577,9300,0.00,2.28,0.00,0.000,6,0.000,0.019,3393,1819,1941,0,0,0,0,0,0
$STATE,9433,end climb,SURFACE_DEPTH_REACHED
$STATE,9435,begin surface coast
$FINISH,0.4,1.023418
$STATE,9473,end surface coast,CONTROL_FINISHED_OK
$STATE,9473,begin surface
$SM_CCo,9497,83.55,0.462,0,0,1288,330.17
$SM_GC,1.00,0.00,0.00,83.55,0.000,0.000,0.462,427,2164,1288,-12.47,1.81,330.17
$IRIDIUM_FIX,2054.83,-15802.06,040700,101011
$TT8_MAMPS,0.029146
$HUMID,53.11
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,4.131
$10V_AH,10.6,3.782
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.525,101.175,240.550,83.550,0.000,77.146,103.899,385.973,4.500,0.000,34.394,1131.096,6303.141,406.590,1753.296,830.932,0.000,1136.238,0.000,1726.530,0.000,29.251,0.000
$DEVICE_MAMPS,139.594,60.593,826.826,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.495,398.159,905.295,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34961,610
$CAP_FILE_SIZE,108095,0
$CFSIZE,260165632,254140416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100411,125122,2102.024,-15803.372,14,2.3,33,9.8